Make parametric dynamics into a library - Githubissues

ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles

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Make parametric dynamics into a library #43

Closed Jaeyoung-Lim closed 3 years ago

Jaeyoung-Lim commented 3 years ago

Problem Description This makes the parametric dynamics into a library, so that we can integrate other force effects (e.g. residual dynamic effects) into the vehicle.

The input / output of the parametric dynamics are as the following.

Input: Airspeed in the body frame / Control inputs
Output: Aerodynamic forces in the bodyframe

Also noticed that https://github.com/ethz-asl/data-driven-dynamics/pull/28/files was not properly applied to the techpod vehicle, therefore fixed that along the way

Additional Context

Since the original plugin was using ignition math/ gazebo dependencies this had to be linked in the library too. This is something to fix in the future
This allows us to add the motor model into a single plugin much easier (Not part of this PR)